JP5266002B2 - Method and system for automated software control of waterjet orientation parameters - Google Patents

Abstract

The invention refers to a method in a computer system for controlling a jet apparatus to cut along a designated cutting path of a material to produce a target piece having a geometric specification, the jet apparatus having a cutting head and a plurality of modifiable process parameters; comprising: retrieving a representation of a predictive data model that models the effects of values of at least one orientation characteristic of the cutting head on a cut produced using those values; automatically and dynamically determining a plurality of values for the at least one orientation characteristic from the retrieved data model representation in accordance with values of the process parameters; and using the determined plurality of values for the at least one orientation characteristic to control the jet apparatus to cut along the designated path to produce the target piece.

Description

  The present invention relates to a method and system for automatically controlling a fluid jet, and more particularly to a method and system for automatically controlling process parameters of a high pressure water jet utilizing a lead, taper, and other orientations, and a predictive model. About.

  High pressure fluid jets, including high pressure abrasive water jets, are used to cut a variety of materials in many different industries. Abrasive water jets have proven particularly useful in cutting difficult, thick or agglomerated materials such as thick metal, glass, or ceramic materials. For example, systems that generate high pressure polishing water jets such as the Passer 3 system manufactured by Flow International Corporation, the assignee of the present invention, are currently available. This type of abrasive jet cutting system is shown and described in Flow US Pat. No. 5,643,058. It is understood that the terms “high pressure fluid jet” and “jet” as used throughout this specification incorporate all types of high pressure fluid jets, including but not limited to high pressure water jets and high pressure abrasive water jets. Should. In such a system, a high pressure fluid (usually water) flows through the opening of the cutting head to form a high pressure jet. As the jet flows through the mixing tube, abrasive particles are combined into this high pressure jet. The high pressure abrasive water jet is discharged from the mixing tube and directed to the workpiece to cut the workpiece along the designed path.

  Various systems are currently available that move a high pressure fluid jet along a designed path. Such systems are commonly referred to as 3-axis and 5-axis machines. A conventional triaxial machine mounts the cutting head assembly so that it can move along the xy plane and perpendicular to the z axis, i.e., toward and away from the workpiece. . In this manner, the high pressure fluid jet generated by the cutting head assembly moves along the designed path in the xy plane and moves up and down relative to the workpiece, as may be desired. A conventional five-axis machine works in a similar manner, but with two additional axes of rotation (usually one horizontal and one vertical axis, in combination with the other axes to achieve some tilt and rotation To provide exercise.

Manipulating the jet about five axes may be useful for a variety of reasons, for example, for cutting a three-dimensional shape. Such an operation may also be desired to correct the jet cutting characteristics or the resulting cutting characteristics. More particularly, as will be appreciated by those of ordinary skill in the art, cuts produced by jets, such as abrasive water jets, have different characteristics than cuts produced by more conventional mechanical processes. Two of the cut features that can result from the use of a high-pressure fluid jet are referred to as being “tapered” and “trailback”. FIG. 1 shows an example of a taper. Taper is the angle of the cut wall with respect to the vertical plane. The taper typically results in a target piece having a different dimension on the top surface (where the jet enters the workpiece) than on the bottom surface (where the jet exits the workpiece). FIG. 2 shows an example of trailback. Trailback, also called dragging, identifies the phenomenon in which a high pressure fluid jet exits a workpiece at a point behind the point of movement from the point where the jet enters the workpiece. These two cut features, taper and trailback, may or may not be allowed given the desired finished product. The taper and trailback vary depending on the cutting speed. Thus, one known method of controlling excessive taper and / or trailback is to slow the system cutting speed. In situations where it is desirable to minimize or eliminate taper and trailback, a primordial manual trial and error utilizes a conventional five-axis system that tapers the jet as it travels along the cutting path. And correction of lead angle.

(Summary of the Invention)
Briefly summarized, the method and system of the present invention automatically controlled the orientation parameters of the fluid jet to achieve a more powerful control of the cut produced and the resulting piece outline. These methods and systems can also be used with different types of jet devices that utilize movement about different numbers of axes to control the cutting head. Some exemplary embodiments are the Dynamic Waterjet Control.
A System (“DWCS”) is provided to dynamically control the orientation of the jet relative to the material being cut as a function of speed and / or other process parameters. Azimuth parameters include, for example, standoff compensation values, and the xy position of the jet along the cutting path, such as the taper and lead angle of the cutting head, and the three-dimensional orientation parameter of the jet. In some embodiments, DWCS utilizes a set of predictive models to automatically determine the appropriate orientation parameters for any geometry as a function of velocity. In this way, these models dynamically match the cutting head speed to the appropriate lead and taper angles for each geometric entity under different cutting head process conditions. For example, when corners are cut, the cutting head usually slows down. In some cases, automated lead and taper angle determination techniques can be utilized to allow the cutting head to achieve a more accurate cut while reducing deceleration.

  In some embodiments, the DWCS utilizes a user interface. This user interface may be implemented as a communication interface to a graphical user interface (“GUI”), an exercise program generator, one or more replaceable models, and a controller of the cutting head. The DWCS provides CAD capability to selectively design the target piece or receive CAD input by other means. In some embodiments, the DWCS resides on a separate computer workstation. However, in other embodiments, the DWCS resides on a controller or a computer associated with the controller.

  The motion program generator dynamically generates a motion program for the controller of the jet device. The generated motion commands depend on the requirements of the controller and / or jet device, and therefore the motion program generator is tailored to generate different types of control commands for each type of controller.

  The motion program generator determines for each geometric entity the lead and taper angle adjustments as a function of the entity's decision speed. In certain embodiments, lead and taper angle adjustments are a function of other process parameters such as mixing tube length or aperture diameter. In another embodiment, a speed and acceleration model is utilized in DWCS to determine the velocity of the entity prior to determining lead and taper angle adjustments. In some embodiments, lead and taper angle adjustments are determined simultaneously with speed adjustments.

  The model utilized by the technique of the present invention models a cut profile that can be achieved under varying conditions specified by different process parameter values. Several techniques that provide lead and taper values for any geometry may be utilized to implement the lead and taper model. In some embodiments, the lead and taper model includes a set of polynomials. In other embodiments, the lead and taper model includes a separate value lookup table that models the lead and taper angles for a set of geometries. In some embodiments, the lead and taper model models the lead and taper angle as a function of speed and material thickness. In addition, some embodiments include a tangent angle with respect to the current endpoint path to support the determination of smoother transitions around entities such as corners or other intersections.

  In yet another embodiment, the lead and taper angles can be manually overwritten by the operator for all or a portion of the cutting path. Furthermore, automated lead and taper angle adjustments can operate in conjunction with manual overwriting of several parameters.

  In some embodiments, some or all of the process of automatically determining one or more orientation parameters, and controlling the cutting head accordingly, is directly connected to the jet device controller or controller. Executed by software / hardware / firmware.

  Embodiments of the present invention automatically control the waterjet lead and taper angles and other orientation parameters to achieve better control of the cut generated by the waterjet and the shape of the piece produced by the cut, Computer-based and network-based methods and systems are provided. Exemplary embodiments of the present invention provide a Dynamic Waterjet Control System (“DWCS”) to dynamically control jet orientation relative to material being cut as a function of velocity and / or other process parameters. . The DWCS uses a set of predictive models to, for example, standoff position and, if appropriate, the x- and y-axis (two-dimensional) positions of the jet along the cutting path, such as the tilt and rotation of the cutting head As well as dynamically controlling the three-dimensional orientation of the jet. The predictive model shows the proper setting of these orientation parameters to achieve the desired characteristics of the cut and the resulting piece outline. DWCS's extensive control capabilities allow operators to manually control the orientation of a jet relative to a particular workpiece being cut, depending on the person skilled in the art, using a water jet in automatic mode rather than manual interference can do. Thus, the automated performance of DWCS supports reduced manufacturing time as well as precise control of the cutting process.

  As discussed herein with respect to water jets, particularly abrasive water jets, those skilled in the art will recognize that the techniques of the present invention may be generated at high or low pressure, regardless of whether additives or abrasives are utilized. It is understood that any type of fluid jet that can be applied. In addition, those skilled in the art will modify these techniques when different prediction models are developed and incorporated to change the x-axis, y-axis, standoff, tilt angle, and lead angle jet orientation parameters other than velocity. It is understood that it can be controlled as a function of process parameters.

FIG. 3 is a block diagram illustrating the generation of a target piece using the Dynamic Waterjet Control System. In normal operation, an operator 301 may use a CAD (“Computer-A” at a computer workstation 302.
ided Design ") program or package is used to specify the design (eg, the part to be manufactured) of the piece 301 to be cut from the workpiece material 303. Computer workstation 302 is adjacent, remotely connected, or directly connected to an abrasive water jet (AWJ) cutting device 320. An example high-pressure fluid jet device is "APPARATUS FOR GENERATION AND AND".
It is described in co-filed US patent application Ser. No. 09 / 940,689, referred to as “MANIPULATING A HIGH-PRESSURE FLUID JET”. A well-known CAD program or package may be utilized to specify the design of piece 310. Further, the CAD design package can also be incorporated into the Dynamic Waterjet Control System itself. The generated design is input into the DWCS 304, which then generates a motion program 305 that specifies how to control the jet device 320 to cut the workpiece material 303, as described in further detail in the remaining drawings. To do. If specified by the operator, the DWCS 304 sends the exercise program 305 to a hardware / software controller 321 (eg, CNC “Computer Numeric Controller”). The hardware / software controller 321 drives the jet device 320 to cut the workpiece material according to the instructions contained in the motion program 305 to produce the target piece 310. When used in this manner, DWCS provides a CAM (“Computer-Aided Manufacturing”) process to manufacture target pieces.

  Although the DWCS described in FIG. 3 is connected to a jet device but is shown to reside on a separate computer workstation, those skilled in the art will recognize that a jet device and a computer or other controller (jet It will be understood that depending on the actual configuration of the system, the DWCS may alternatively be located on other devices in the overall jet system. For example, the DWCS can be incorporated into the controller of the jet device itself (as part of the software / firmware / hardware associated with the machine). In this case, the motion program is reduced, rather, the automatic adjustment determination for the jet orientation parameter is incorporated into the controller code itself. Or, for example, the DWCS may reside on a computer system that is directly connected to the controller. All such combinations or parameters are considered by the method and system of the present invention, and appropriate modifications to the described DWCS, such as details of the motion program and its type, can be found in the fluid jet system and associated control hardware. Understand the details of the hardware and software.

FIG. 4 is a block diagram of an exemplary embodiment of the Dynamic Waterjet Control System. The DWCS 401 includes an exercise program generator / kernel 402, a user interface 403 such as a graphical user interface (“GUI”), a CAD design module 404, one or more replaceable orientation or process models 405, and an interface to the jet device controller 409. . The exercise program generator 402 receives inputs from the CAD design module 404 and the user interface 403 and builds an exercise program that can be sent to and executed by a controller (CNC) that controls the jet. Those skilled in the art will recognize that other configurations and combinations of these components are equally contemplated for use with the techniques of the present invention. For example, the CAD design module 404 can be incorporated into the user interface 403. In some embodiments, the user interface 403 is interconnected to the exercise program generator 402 so that the user interface 403 controls the flow of the program and generates an exercise program. In another embodiment, the core program flow is isolated in the kernel module, and the kernel module is isolated from the exercise program generator 402. The replaceable model 405 provides the exercise program generator 402 with access to a set of mathematical models 406, 407, 408, and 409. These mathematical models are utilized to determine the appropriate jet orientation and cutting process parameters. Each mathematical model 406, 407, 408, and 409 includes one or more equations or tables that have specific values for the commands that result from the exercise program. Used by the generating motion program generator 402 to generate the desired cutting features or behavior. For example, in a 5-axis machine environment, these equations are used to generate the x-axis position, y-axis position, z standoff compensation value, lead angle, and taper angle for each command where appropriate. The replaceable model 405 preferably provides a plurality of dynamic replaceable mathematical models. For example, in a preferred embodiment, the model 405 includes a set of equations 406 that generate lead and taper angle values, a set of equations 407 that generate velocity and acceleration values, a modified cutting process that cuts curves, corners, and the like. A set of equations 408 for generating parameter values as well as other models 409 are provided. Mathematical models 406, 407, 408, and 409 are typically generated empirically and theoretically based on empirical observations and conventional analysis of cutting data. In particular, as discussed in further detail below, the lead and taper model 406 is a predictive model that can be used to generate any shape of lead and taper angle values. In some embodiments, the DWCS also includes an interface to the controller 409, which provides functionality for bidirectional communication between the controller and the DWCS. Utilizing these controller functions, for example, an ongoing cutting path is displayed as the target piece is being cut from the workpiece. In addition, these functions are used to obtain cutting device values, such as the current state of the attached mathematical and electrical devices.

  Those skilled in the art will appreciate that many different configurations and functional divisions of DWCS components are possible. Further specific details for this exemplary embodiment of the DWCS, such as data format, user interface screens, code flow diagrams, menu options, etc. will be described, although those skilled in the art will understand the techniques of the present invention It is understood that some specific details described therein can be used without or with other specific details. Other specific details are, for example, changes in the order of the code flow diagrams or specific features shown on the user interface screen. In other instances, well-known structures and steps have not been shown in detail in order to avoid obscuring the present invention.

  FIG. 5 is an exemplary flowchart of the steps performed by the exemplary embodiment of the Dynamic Waterjet Control System for cutting a target piece. In step 501, the DWCS collects various input data from the operator. The various input data includes a target piece design (geometry specification) or equivalent in CAD format. Furthermore, the customer requirements of the target piece also need to be specified or gathered, such as surface finish instructions or cut quality instructions sometimes mentioned. Various techniques for indicating this information to the DWCS can be used. In one exemplary embodiment, the CAD package allows the operator to specify a different surface finish for each drawing entity. For example, these surface finishes can be indicated as a percentage of the speed scale. However, those skilled in the art will appreciate that other scales can be used to indicate surface finish or cut quality. For example, alternative scales that indicate speed can be used, or quality indications such as “rough finish”, “intermediate finish”, and “smooth finish”. Speed is interchanged with surface finish (or cut quality), and thus speed and finish quality can be inferred on what scale is used. However, although DWCS is operating the jet device at higher speeds, it should be noted that automatic taper and lead angle compensation can assist in making more dimensionally accurate pieces.

  In step 502, the DWCS typically collects process parameters from the operator. These parameters have default values, or some can be queried from the jet device controller. In one exemplary embodiment, the DWCS (shown in FIG. 8 below) determines a value for the type of material to be cut as a process parameter. Process parameters are material thickness, water pressure, orifice diameter, abrasive flow rate, abrasive type, mixing tube diameter and mixing tube length.

  In step 503, input process parameters are used to automatically calculate the DWCS offset path. The offset path is a path that is necessary to be followed when the target piece is cut by counting an arbitrary width (cut width caused by the jet) that the jet actually starts. This prevents the production of smaller or larger pieces than specified. As jet characteristics change naturally due to, for example, wear, jet process parameters require corresponding modifications to calculate accurate offsets. In some embodiments, the offset path is determined by the controller and the appropriate transformation of the motion program orientation parameter is made by the controller.

  Steps 504-507 accumulate the exercise program by incrementing the stored predetermined program value in the exercise program data structure. Preferably, the entry to the data structure corresponds to a stored exercise program instruction, which can be executed by the jet controller. In step 504, the DWCS determines the component drawing entity of the target piece designed by the “split” geometry in the entity that is appropriate to assign the cutting speed. This step can be performed at some point, either now or elsewhere, using known and off-the-shelf software systems that provide design segmentation, for example, by modifying CAD / CAM files. Once segmentation is performed, at step 505, the DWCS draws a drawing entity based on a known velocity and acceleration model (eg, velocity model 407 in FIG. 4) and a known corner model (eg, corner model 408 in FIG. 4). Assign a speed value to. The velocity model and the corner model take into account the preferred velocity reduction for cutting entities such as circles, arcs and corners. Examples of these models are currently available, for example, the FlowMaster® controlled shape cutting system currently manufactured by Flow International Corporation, and equivalent or similar models of these models are generally Are known. For the purposes of DWCS, velocity and acceleration models and / or corner models that can be used as long as velocity represent a particular drawing entity. Generally, velocity and acceleration models go to equations and tests that generate a scale of velocity (eg, a percentage of the maximum capability speed of the jet device) based on known geometry such as lines, arcs, circles, and specific machine features. Provide access. For example, a close radius arc requires that the jet cutting start at a slower rate than the maximum. In addition, the velocity and acceleration model is used to adjust the speed of the drawing entity when a velocity transition is encountered based on the acceleration characteristics of a particular jet device.

In step 506, the DWCS automatically determines the tilt and rotation of the jet cutting head. Jet cutting head tilt and swivel to achieve customer requirements designed by automatically determining taper and lead angle using predictive models (eg, lead and taper model 406 of FIG. 4) Is necessary. This determination is described in detail with reference to FIG. In summary, a taper and lead angle model based on a series of equations produces optimal values for the taper and lead angle at each end of each drawing entity, such as the cutting head velocity function at that point. Specifically, if the lead and taper model determines that the segment of the target piece should be cut slowly (due to machine deceleration or required surface finish control), the lead and taper angle is the speed Set automatically to compensate for changes. Accordingly, the lead and taper angles are automatically set to match the cutting speed for the end point and each segment. Because the cutting speed of a particular drawing entity is already determined as a function of various other process parameters (eg material thickness and mixing tube characteristics), taper and lead angle are also Is an indirect function of the process parameter.

  In step 507, the DWCS establishes a final exercise program that adjusts the data structure of the exercise program as needed for the particular jet controller used. Typically, CNCs and other water jet controllers use equations of motion to calculate the movement of the cutting head motor necessary to generate a given path (ie, the motor to produce a specific jet tool tip position). Calculate how should be arranged). Preferably, prior to using the cutting head, the operator aligns the cutting head device using the controller so that the equation of motion yields the position of the motor for producing a predetermined cut. Some controllers are capable of receiving a specified motion program relating to jet orientation and internally use an inverse motion equation to determine the actual motor position from the tip position of the jet tool. Others, however, anticipate motor program instructions other than motor positions and jet tooltip xy position and angle combinations. In this case, if the jet tooltip position needs to be “converted” to the motor position, the DWCS performs such conversion using the equations of motion in step 507 and is stored in the motion program data structure. Adjust the orientation parameter value. Furthermore, the standoff compensation of the jet cutting head is determined using the equation of motion and stores each command. The standoff compensation value is a “z-axis” measurement that is necessary to ensure that the jet tool tip remains at a particular standoff amount and is centered on the cutting path regardless of taper and lead angle. The standoff compensation value is usually a function of the distance between the jet motor center point and the jet tooltip.

  In step 508, the DWCS establishes and / or confirms communication with the jet device controller. In step 509, the DWCS sends to the controller to execute the constructed exercise program. One skilled in the art understands that the term “controller” includes any device / software / firmware that can direct the operation of the motor based on a motion program. Those skilled in the art also understand that the term “exercise program” is used herein to indicate the set of instructions in which a particular jet tool device and / or controller is used. The foregoing steps can be modified to meet the needs of any such instruction.

  In some embodiments, as mentioned, the DWCS customer interface is a graphical customer interface (GUI). The GUI controls the entire cutting process. 6-17 are exemplary screen displays of various aspects of an exemplary embodiment of a DWCS customer interface. Those skilled in the art will appreciate that there are these screen displays that display the required input, output, and control flow and are contemplated using the techniques of the present invention.

FIG. 6 is an exemplary screen display of the customer interface of an exemplary Dynamic Waterjet Control System CAD module. The operator uses the design tool 604 in the drawing area 601 to input a desired piece (part) design including segment instructions for cutting. In the geometry input area 602, the CAD module receives a drawing entity input for the design displayed in the drawing area 601 from the operator. Preferably, the CAD module allows the operator to indicate the surface finish requirements (or any other representation of customer requirements) of the design segment. The speed specification button 603 is used to specify the speed requirements (and hence the surface quality requirements) for a particular segment. In the illustrated CAD module, the color of each segment (not shown) corresponds to a percentage of maximum speed. Thus, for example, a square is drawn in blue corresponding to 40% of the maximum speed, for example, while a cut-out circle is drawn in light green corresponding to 20% of the maximum speed, for example. Those skilled in the art will understand that any type of key system may be used, including different separators and designations other than by color.

  FIG. 7 is an exemplary screen display of an introductory dialog of the customer interface of an exemplary Dynamic Waterjet Control System cutting module. The drawing display area 701 contains a view of the current design of the target piece. In this particular embodiment, the line segments are color codes that correspond to customer surface finish requirements. The color code was specified when the design was entered into the CAD program. The speed adjustment button 707 is used to manually change the settings for any particular drawing entity. Among other capabilities, the install dialog provides access to configuration options via selection of the settings button 702. The setting button 702 is further described below with respect to FIG. When the preview button 703 is selected, the DWCS provides a calculated preview of the cutting head direction and path along the drawing displayed in the drawing display area 701. When the execute button 704 is selected, the DWCS performs a myriad of activities related to the exercise program (described in detail, certain embodiments relate to FIGS. 20 and 21). After the DWCS has finished building the exercise program and establishing communication with the jet device controller, the cutting module interface displays controller feedback and a control dialog (controller dialog) for the cutting process that is actually running. The controller dialog is further described below with respect to FIGS. Other fields are available in the install dialog for the set and display other process parameter values. For example, material attributes of the product being processed may be set in edit box 705. Also, the radius of the jet tool can be set in the edit box 706. The jet tool radius is used to determine the jet offset required to generate the target cutting path. Usually, the offset is necessary to guarantee the accuracy of the cut. This is because the jet itself has a width that is not part of the cutting path.

  FIG. 8 is an exemplary screen display of a setting dialog of the customer interface of an exemplary Dynamic Waterjet Control System cutting module. A setting dialog 801 that uses various process parameter settings is displayed in response to selection of the installation button 702 in FIG. Various process parameters, such as pump characteristics and abrasive on / off methods, can be set via dialog 801 fields. Usually, the operator activates the setting dialog 801 before cutting the first instance of the target piece and saves the next cutting value.

FIG. 9 is an exemplary screen display of an advanced settings dialog of the customer interface of an exemplary Dynamic Waterjet Control System cutting module. The advanced settings dialog 901 is activated when the operator selects an “advanced” menu item from the toolbar of an introductory dialog (eg, as seen in FIG. 7). The operator indicates the tool length and the standoff value of the cutting head device. This standoff value is the distance between the cutting head tip and the material. The length of the tool is the length from the center of the rotation axis of the cutting head to the tip of the cutting head. These values are used to determine the lead and taper angles automatically determined along with the equations of motion and the conversion from standoff compensation values to numerical values that control the cutting head motor.

In the example introductory dialog discussed with reference to FIG. 7, if the operator selects the execute button 704, the DWCS uses which model the operator uses (eg, the replaceable model 405 of FIG. 4). One of the above has already been indicated. For example, if this is the first time the target piece has been cut, DWCS will display a dialog that accepts input for which model the operator wants to use, assuming that the operator has not yet set the model. . Figures 10-13 illustrate exemplary Dynamics.
6 is an exemplary screen display of a model setting for a Waterjet Control System cutting module interface. The model settings dialog provides a range from fully manual control to fully automated control. For example, the model settings dialog provides the operator with a specified value to use a lead and taper model that automatically determines the lead and taper angle, or to prioritize the lead and taper angle for each drawing entity. Allows you to choose whether or not. Those skilled in the art will appreciate that other combinations are possible and provide a portion of the manually override value for an otherwise automated process. In one embodiment, a set default model “scheme” or combination is provided.

  FIG. 10 is an exemplary screen display of an applied model dialog of the model setting dialog. This applied model dialog 1001 is used to set some process parameters used by the model. Once the “OK” button 1002 is selected, the DWCS proceeds to build an exercise program.

  FIG. 11 is an exemplary screen display of the selected model dialog of the model setting dialog. The operator uses the selection model dialog 1101 to select the model to use for a particular cutting session. The “standard” model button 1102 is used to specify which combination of replacement models (for example, the model 405 in FIG. 4) to be used. Preferably, a default set of models is provided. The operator preferably selects one or more models currently available by being selected by the appropriate model checkbox 1103. Selection of different versions of these models can be added if more than one model type exists. For example, if more than one corner is available, a different corner model may be selectable in a drop-down menu (not shown) or other GUI element. By selecting the lead and taper control checkbox 1105, the operator may indicate a desire to have a DWCS that automatically determines the lead and taper angles.

  FIG. 12 is an exemplary screen display of the customer corner edit dialog of the model setting dialog. This dialog is displayed by the DWCS in response to selecting the edit button 1106 of FIG. The customer corner edit dialog 1201 is used to manually control the speed calculation at the corner. The operator can specify the actual speed around the corner, as well as how the segmentation of the drawing entity is adjusted to account for deceleration and acceleration around the corner.

FIG. 13 is an exemplary screen display of the customer lead and taper dialog of the model setting dialog. Using the customer lead and taper control dialog 1301, the operator can specify the lead and tape route chimes using previously determined values (eg, using the scheme entry area 1302). Alternatively, the operator may specify a particular lead and taper value to use with each specified speed increment (eg, by entering values for the lead and taper angle table area 1303). The speed increment is specified in the increment area 1304. Thus, the operator can imagine and specify the lead and taper for each speed, which can be performed by the cutting head using a 1% increment.

  FIG. 14 is an example screen display of a jet controller feedback and control dialog of an example Dynamic Waterjet Control System cutting module interface. The cutting screen area 1401 includes a view of the target piece. The controller feedback and control dialog (controller dialog) displays to the operator the current controller information that the piece is being cut. The direction parameter feedback area 1402 displays the value of the direction parameter from the viewpoint of the controller. Once the cutting process has been initiated, the operator can select which parameters to display as discussed with reference to FIGS. The operator selects the home direction button 1403 and is set to the “origin” position relative to the xy plane, the z direction (used for standoff compensation values) and the lead and taper angle positions of the cutting head. The “home” position is either the adjusted origin position of the jet device (coordinates (0, 0)) or any xy or z position or angle set by the operator using the button 1403. Process parameter feedback area 1406 includes current values of pumps and nozzles for the parameters. The parameters include whether polishing is used or whether the pump is run at high or low pressure. When starting the actual cutting process, the operator selects the cycle start button 1404. At this time, the DWCS downloads the exercise program to the controller and instructs the controller to execute the program. The stop cycle button 1405 is selected to stop the current cutting process.

  FIGS. 15-17 are exemplary screen displays of controller feedback provided while the jet is cutting the workpiece. FIG. 15 is an exemplary screen display showing the xy position of the current position of the jet tooltip relative to the path. In FIG. 15, a cutting screen area 1501 shows the cutting being performed so that the operator can see the current (roughly) position of the jet and proceed with the cutting operation. Direction parameter feedback area 1502 displays the current value of the selected specific direction parameter on the screen. In FIG. 15, these values are the x and y positions of the jet tool tip relative to the “home” position of the jet device.

  FIG. 16 is an exemplary screen display showing the standoff compensation value of the cutting head. The cutting screen area 1601 is the same as that described with reference to FIG. Direction parameter feedback area 1602 is shown displaying the current standoff compensation value of the cutting head. The cutting head corresponds to the current position of the jet tool tip. In the illustrated embodiment, these values are from the controller's point of view and therefore these values reflect the motor position.

FIG. 17 is an exemplary screen display showing cutting head lead and taper compensation values. The cutting display area 1701 is the same as that described with reference to FIG. A directional parameter feedback area 1702 is shown displaying the cutting head's current lead and taper compensation values for the vertical intermediate position. In the illustrated embodiment, these values are from the controller's point of view (after the equation of motion has been applied to the lead and taper angles), so the lead and taper compensation values reflect the motor position.

  In the exemplary embodiment, the Dynamic Waterjet Control System is implemented on a computer that includes a central processing unit, a display, a memory, and other input / output devices. The exemplary embodiments are designed to operate in a stand-alone or network environment. The network is, for example, connected to the Internet or in an environment where the DWCS user interface is controlled remotely (such as a physical network or a wireless connection). Further, the exemplary embodiment is incorporated into a computer numerical control (CNC device). The CNC device controls the jet directly or with the computer interface of the CNC device. One skilled in the art will appreciate that DWCS embodiments may be implemented in other environments that support the ability to generate commands that the waterjet controller can understand.

  FIG. 18 is a block diagram of a multi-purpose computer system for implementing an embodiment of the Dynamic Waterjet Control System. The computer system 1801 includes a central processing unit (CPU) 1802, a display 1803, computer memory (memory) 1805 or other computer readable memory media, and other input / output devices 1804. The components of DWCS 1806 are typically resident in memory 1805 and execute CPU 1802. As described in FIG. 4, the DWCS 1806 includes a user interface 1807, a CAD module 1808 (if not part of the user interface 1807), an exercise program generator / DWCS kernel 1809, one or more replaceable models 1801, and a controller interface 1811. Various components including. These components are shown to be resident in memory 1805. Other programs 1810 also reside in memory 1805.

  For those skilled in the art, an exemplary DWCS may be implemented as one or more code modules and may be implemented in a distributed environment. The various programs shown here as currently resident in memory 1805 are distributed among several computer systems. For example, the replaceable model 1810 preferably includes a lead and taper model, a velocity and acceleration model, a corner model, and other models, where an exercise program 1809 and / or a user interface 1807 is resident, or a CAD module 1808 is Each or any combination resident in a different system than the resident computer system. Further, in FIG. 3, as discussed above, one or more of these components may be resident and executed on a computer associated with the controller of the jet device or controller card. In certain embodiments, DWCS can be implemented using an object-oriented programming environment, such as a C ++ programming language, and replaceable directions and process models can be implemented as different types of objects and classes.

FIG. 19 is an exemplary target piece design, Dynamic Waterjet.
The control system will automatically determine the direction and cutting process parameters. FIG. 19 shows a rectangular shape, which is cut counterclockwise from the point marked “start” to the point marked “end”. This design shows four geometric entities (lines) labeled “a”, “b”, “c”, “d”. When cutting, the jet device proceeds in the order of the corners marked A, B and C. At the end of the cut, the jet reaches the point marked “End”. For purposes of illustration, the following description indicates that the operator cuts entity “a” at high speed (roughening) and entities “b”, “c” and “d” remain slow (smooth surface). Finish) Assume that the request is communicated. Furthermore, the description assumes that the partial offset need not take into account the cut width produced by the jet.

  As discussed with reference to the user interface specified in FIG. 7, if the operator selects the “execute” button (eg, see button 704) from the installation dialog of the cutting module of the user interface, the DWCS is automated. Start the direction parameter determination process. FIG. 20 is an exemplary flowchart of an exemplary dynamic waterjet control system automated directional parameter determination process. In step 2001, if any input (process) changes, the DWCS determines whether it is the first time the software is run to cut this target piece. If so, continue to step 2002, otherwise continue to step 2003. In step 2002, the DWCS displays a model priority dialog (eg, see FIGS. 10-13) to obtain information from the operator regarding what model the operator prefers. Other parameters (eg, lead and taper angle) may be automatically selected by the system, but for example, the operator uses these model priority dialogs to prioritize corner velocity percentage values. In step 2003, the DWCS calls the constructed exercise program data structure routine to query various models of direction and process parameter values. In step 2004, the DWCS sets or modifies that a communication session is established using the jet controller. In step 2005, the DWCS displays a controller dialog and waits for further operator instructions (eg, see FIG. 14) and returns.

  FIG. 21 is a flowchart for constructing an exercise program data structure by the Dynamic Waterjet Control System. The DWCS examines the geometry received the desired piece and uses the model indicated by the operator and the priority cutting process parameters to cut the jet speed used to cut the piece according to the specified customer requirements And automatically determine the direction. These values are stored in a data structure that, when complete, forms an exercise program. Those skilled in the art can use any suitable structure, including a single array or table, to store exercise program data.

  Specifically, in step 2101, the CAD input from the DWCS drawing entity is segmented. As previously described, this step is performed using known techniques in industrial and / or off-the-shelf programs. In step 2102, the DWCS determines the cutting speed used for each drawing entity by querying the cutting speed and acceleration model. This model can be implemented as a series of callable functions (equations) or as a simple look-up table based on entity type, jet device restrictions or requirements and various process parameter values. In any case, external velocity and acceleration models can be used in connection with the lead and taper models described herein. Preferably, any model used produces the fastest cut rate that can achieve a given process parameter value (“separation rate”). For a given jet device and DWCS, the velocity model specifies the relationship for the “slow” and “fast” customer requirements for several given velocities. For example, in one embodiment, a fast cut is considered to be 100%, while a slow cut is typically 20%. Other embodiments mean “fast” and “slow” (eg, 1-10) on the sliding scale. For illustration purposes, this discussion shows as fast as 100% speed.

Once determined at a fast speed (100%), the DWCS may assign a speed percentage to other required speeds. For example, if a speed model triggered by DWCS returns a value (ipm) of 10 inches per minute at 100% speed, when the model specifies that the second entity is cut at 1 ipm, 1 ipm is Since it is 1/10 ^th of 10 ipm, the DWCS decides to cut the second entity at a rate of 10%.
Referring again to FIG. 19, the geometric entity “a” should be cut at a fast rate, thus 100% rate. Since the operator specifies a slow speed for the remaining entities, for purposes of illustration, a value of 20% speed is assigned to these entities. This exercise program data structure value corresponds to the design of FIG. 19 in this respect and is similar to the value shown in Table 1.

一旦、設計部分のジオメトリックエンティティのカッティング速度が、ステップ２１０３で計算されると、コーナが表示される場合、ＤＷＣＳは、各コーナで、速度制限をチェックする。例えば、ドライバは、コーナ周りで減速するように、ジェットカッティングヘッドはまた、速度を落とす。特定のコーナでカッティングヘッドが減速するべき速度が、オペレータ入力またはコーナ制御モデル（図４のコーナモデル４０８のような）の数学的方程式を用いることによるどちらかで、決定される。

Once the cutting speed of the geometric entity of the design part is calculated in step 2103, if corners are displayed, DWCS checks the speed limit at each corner. For example, the jet cutting head also slows down as the driver slows down around the corner. The speed at which the cutting head should decelerate at a particular corner is determined either by operator input or by using a mathematical equation of a corner control model (such as corner model 408 in FIG. 4).

  Once the corner speed is determined, all speeds are matched to the respective geometric entity. The exercise program data structure values correspond to the design of FIG. 19, but in this respect are the same as the values shown in Table 2.

ステップ２１０４において、ＤＷＣＳは、設計の各ドローイングエンティティの間の速度を移行する様態を決定する。例えば、図１９および表２を参照して、プロセスまたは機械の加速度の制約を一致させるために、カッティングヘッドが、「開始」で０％の速度から第１のレッグ（エンティティ「ａ」）の１００％の速度へ増加するように０．５インチを必要とし得る。このような移行は、それぞれのジオメトリックエンティティに対してＤＷＣＳによって計算され、かつジェット装置の特性または他のプロセスパラメータ間のエンティティのタイプに基づいている。

In step 2104, the DWCS determines how to transition the speed between each drawing entity in the design. For example, with reference to FIG. 19 and Table 2, to match the process or machine acceleration constraints, the cutting head moves from 0% speed at “start” to 100 of the first leg (entity “a”). 0.5 inches may be required to increase to a speed of%. Such transitions are calculated by DWCS for each geometric entity and are based on the type of entity between jet device characteristics or other process parameters.

  Speed transitions can be achieved by setting acceleration parameters on the controller or by “disassembling” the original CAD design into smaller segments. The DWCS assigning each one of these segments segments the incremental change in speed that produces the required speed transition. In the exemplary embodiment, techniques for disassembling segments are often used.

  Currently, this exercise program data structure includes each entity or feature and the velocity xy position specified for each entity.

  In steps 2105 and 2106, the DWCS uses the lead and taper model to determine the lead and taper at each endpoint. The underlying principle of this model is to match the lead and taper angle to the cutting speed so that the jet can be accelerated through the target piece with the resulting straight edge. Moreover, the techniques used in the model are preferably sufficiently general that any geometric design lead and taper angle determination can be employed. It does not have to be the design itself from which the previous test was performed. In addition, the techniques described below show lead and taper angles as a function of speed. To those skilled in the art, equivalent techniques may use the lead and taper characteristics as a function of these other process parameters, since the speed value is itself a function of the parameters of the other processes.

  The lead and taper model may be implemented as an object in at least one way (eg, the “getLTangle” method). In one embodiment, the method receives three input parameters. The three input parameters are an indication of the cutting speed, the tangent angle of the path (at the survey point), and the direction of the offset. The getLTAngle method includes several techniques (eg, a system of equations or a look-up table) to determine lead and taper based on different values of cutting head process parameters. In addition, the getLTAngle method incorporates a tangent angle designed to assist a specific smooth transition when there are two straight intersections (eg, corners). The tangent angle designed at the intersection / corner is preferably the average of the tangents of each intersection line. This model uses tangent angles to determine the lead and taper angles at the intersection, resulting in a gentle transition of the cutting head motion.

  Specifically, in step 2105, the DWCS uses the lead and taper model and the previously compiled motion program data structure to determine the lead angle at the end of each entity. First, the model determines the drag length. One form of equation for determining drag length is as follows.

ここでｄはドラッグ長（例えば、インチ）、Ｕ％はエンティティに指定された速度パーセンテ−ジであり、かつｔは材料の厚さ（例えば、インチ）である。方程式１の係数は、材料の厚さの範囲に依存して変化するが、これはリードおよびテーパーモデルによって用いられ得る方程式の一般的な形式である。

Where d is the drag length (eg, inches), U% is the velocity percentage specified for the entity, and t is the thickness of the material (eg, inches). The coefficients of Equation 1 vary depending on the material thickness range, which is a general form of equation that can be used by the lead and taper models.

Once the drag length is determined, the model is now the lead angle θ _L (eg, angle) equation

によって決定する。ここでｄおよびｔは、サイドそれぞれドラッグ長および材料の厚さである。可変スケーリングファクターは方程式２の厚さが０．２５インチ未満の材料に適用され得る。一旦、終点のリードアングルが決定されると、ＤＷＣＳによって運動プログラムデータ構造に格納される。

Determined by. Here, d and t are the drag length and the material thickness, respectively. A variable scaling factor may be applied to materials with a thickness of Equation 2 less than 0.25 inches. Once the end lead angle is determined, it is stored by the DWCS in the exercise program data structure.

  Those skilled in the art will appreciate that other equations in the general form of equations 1 and 2 can be used to determine the lead angle and can be incorporated into the lead and taper models. Any equation format that evaluates the same or similar values of a given material thickness (including a matching table of other values) operates the method and system of the present invention. In practice, there is a system of equations of the general form shown, covering various material thicknesses. The DWCS preferably determines a system of equations to use a model format based on the received process parameters. Basically, techniques for providing lead angles for any geometry can be utilized in implementing DWCS lead and taper models.

In step 2106, the DWCS uses the lead and taper model and the previously compiled motion program data structure to determine the taper angle at the end of each entity. Initially, the model determines the width W _t (eg, inches) at the top of the cut using an equation similar to (3).

ここで、Ｕ％はエンティティに指定された速度パーセンテ−ジであり、かつＴは材料の厚さ（例えば、インチ）である。次にモデルは、（３）と同様の方程式を用いるカットの底部での幅Ｗｂ（例えば、インチ）を決定する。

Where U% is the velocity percentage specified for the entity and T is the thickness of the material (eg, inches). The model then determines the width Wb (eg, inches) at the bottom of the cut using an equation similar to (3).

方程式３および方程式４の係数は、研磨剤の流速、ミキシングチューブの長さ、材料等のプロセスパラメータ値に依存して変化する。方程式３および７４は、多項式の形式でより一般的に表現される。

The coefficients of Equation 3 and Equation 4 vary depending on process parameter values such as abrasive flow rate, mixing tube length, materials, and the like. Equations 3 and 74 are more generally expressed in polynomial form.

ここで係数ａ、ｂ、ｃおよびｄは理論的に、実験的にあるいは両方の組合せによって決定される。当業者は、付加的な項が付加され得、かつ方程式４ａの一般的な形式の他の方程式は、テーパーアングルを決定するために用いられ、かつリードおよびテーパーモデルに組み込まれ得ることを理解する。任意の方程式は、所与のプロセスパラメータと同じ値を評価する（また別の値の照合表を含む）任意の方程式形式は、本発明の方法およびシステムを動作する。

Here the coefficients a, b, c and d are determined theoretically, experimentally or a combination of both. One skilled in the art will appreciate that additional terms can be added and other equations in the general form of equation 4a can be used to determine the taper angle and can be incorporated into the lead and taper models. . Any equation evaluates the same value as a given process parameter (and includes another value lookup table), and any equation form operates the method and system of the present invention.

  Once the top and bottom widths are determined, the model

の形式の方程式で用いるテーパーアングルθ_Ｔに戻る。基本的に、任意のジオメトリためのテーパーアングルを提供する技術は、ＤＷＣＳのリードおよびテーパーモデルを実装するなかで利用され得る。

Back to the taper angle θ _T to be used in the form of equation of. Basically, techniques that provide a taper angle for any geometry can be utilized in implementing the DWCS lead and taper model.

  In step 2107, the DWCS optionally scales the lead and taper values depending on various operator inputs. For example, lead angle compensation under very high speed (and depending on the characteristics of the cutting head) may not have a specific effect. In such situations, the DWCS may scale the lead angle values determined by a model that multiplies them by zero.

  In this regard, the motion program data structure includes all of the desired geometric entities, cutting speed and angle compensation. In step 2108, this data is converted to exercise program instructions. In certain embodiments, the DWCS uses an inverse equation of motion to determine the motion coupling point. The motion coupling point advances the tip of the tool along the desired path at the appropriate angle specified in the data structure (if the design has an arc, this technique is usually applied before the arc is applied to the inverse equation of motion. Need to be converted to line segments). The resulting exercise program is a complex form in which the lead and taper angles are absolute on the program. The exemplary user interface described above with reference to FIGS. 7-17 corresponds to this embodiment.

  In another embodiment of FIG. 21, the reverse exercise is performed by the controller card after the exercise program is downloaded. (The arc does not need to be converted to a line). The exercise program is simpler and has obvious lead and taper values. The obvious lead and taper values can be read by the controller card and displayed on the corresponding controller for feedback purposes.

In the other embodiment of FIG. 21, the DWCS does not perform one or more of the design (step 2101) partitioning steps or other steps that specify velocity and angle values for geometry sub-entities. Instead, the variable model is downloaded to its own controller. As the controller performs the xy path of drawing, the controller examines models built inside, such as velocity and acceleration models and corner models, to detect new geometric entities and determine the next velocity when encountered. .
The controller also dynamically adjusts the cutting head lead and taper in response to velocity feedback for the current position and the next position by determining appropriate values from the built-in lead and taper model. Thus, a “look forward” type is provided. As described with reference to FIG. 14, once the controller feedback and controller screen are displayed, the operator preferably selects a cycle start button (eg, visible on button 1404) and the jet device is processing the piece being processed. To actually start cutting. FIG. 22 is an exemplary flowchart of the steps performed by the Dynamic Waterjet Control System to initiate the cutting cycle. In step 2201, the DWCS downloads the exercise program to a controller (eg, controller computer or card). In step 2202, the DWCS sends a command to the controller indicating that the controller should start executing the exercise program and then return. As the controller advances through the motion program, all angles and velocities are transitioned smoothly.

  Although specific or exemplary embodiments of the invention are described herein for purposes of illustration, the invention is not intended to be limited to these embodiments. Equivalent methods, structures, processes, steps and other modifications within the spirit of the invention are within the scope of the invention. For example, the teachings provided herein of the present invention include other or other input systems, automation and control logic built into the controller, or other fluid jet systems such as systems with different axes of the cutting head. Can be applied to placement. Further, the teachings can be applied to other types of modeling or models based on process parameters other than speed. Further, the teachings can be applied to alternative controller arrangements. Alternative controller arrangements reside on a remote control device, such as a device connected to the jet device via a wireless, networked or any type of communication channel. These and other changes can be made to the invention as will be apparent from the above. Accordingly, the invention is not limited by the disclosure, but the scope of the invention is determined by the following claims.

FIG. 1 shows an example of a taper. FIG. 2 shows an example of trailback. FIG. 3 is a block diagram illustrating the generation of a target piece using the Dynamic Waterjet Control System. FIG. 4 is a block diagram of an exemplary embodiment of the Dynamic Waterjet Control System. FIG. 5 is an exemplary flowchart of the steps performed by the exemplary embodiment of the Dynamic Waterjet Control System for cutting a target piece. FIG. 6 is an exemplary screen display example of the user interface of an exemplary Dynamic Waterjet Control System CAD module. FIG. 7 is an exemplary screen display of an introduction dialog for an exemplary Dynamic Waterjet Control System cutting module user interface. FIG. 8 is an exemplary screen display of a setup dialog of an exemplary Dynamic Waterjet Control System cutting module user interface. FIG. 9 is an exemplary screen display of an advanced setup dialog of an exemplary Dynamic Waterjet Control System cutting module user interface. FIG. 10 is an exemplary screen display of the apply model dialog of the model setup dialog. FIG. 11 is an exemplary screen display of the selected model dialog of the model setup dialog. FIG. 12 is an exemplary screen display of the custom corner edit model dialog of the model setup dialog. FIG. 13 is an exemplary screen display of the custom lead and taper dialog of the model setup dialog. FIG. 14 is an exemplary screen display of an exemplary Dynamic Waterjet Control System cutting module user interface jet controller feedback and control dialog. FIG. 15 is an exemplary screen display showing the x, y position of the current position of the jet tooltip relative to the path. FIG. 16 is an exemplary screen display showing the standoff compensation value of the cutting head. FIG. 17 shows an exemplary screen display showing cutting head lead and taper compensation values. FIG. 18 is a block diagram of a general purpose computer system of an actual embodiment of the Dynamic Waterjet Control System. FIG. 19 is an exemplary target piece design that was used to illustrate how the Dynamic Waterjet Control System automates the determination of orientation and cutting process parameters. FIG. 20 is an exemplary flowchart of a dynamic waterjet control system automated orientation parameter determination process. FIG. 21 is an exemplary flowchart of the steps performed by the Dynamic Waterjet Control System that builds the exercise program data structure. FIG. 22 is an exemplary flowchart of the steps performed by the Dynamic Waterjet Control System that initiates a cutting cycle.

Claims (56)

In a computer system, a automatically determine and generate to that method the instructions of motion, the movement of the instruction is to minimize at least one of no unwanted taper and preferably trailback, the movement of the instruction By generating the target piece from the material by controlling the movement and orientation of the cutting head of the fluid jet device,
The method
For each of a plurality of segments constituting the geometric shape of the target piece,
Receiving an indication of a process parameter associated with cutting the segment, wherein the process parameter has a value and at least two of the segments have different process parameter values and Associated with that,
Automatically determining a corresponding angular adjustment of the cutting head relative to the material by using a predictive model based on the indicated process parameters associated with cutting the segment, The predictive model models at least one of a lead angle or a taper angle as a function of the process parameter;
Automatically generating and storing movement instructions indicating a desired movement of the cutting head along with the determined corresponding angular adjustment;
Generating the target piece by automatically controlling movement and orientation of the cutting head of the fluid jet device in accordance with the movement command.   The method of claim 1, wherein the process parameter is a speed of movement of the cutting head. The process parameters, polishing fluid flow rate of the fluid jet device, a nozzle orifice diameter of the fluid jet apparatus, the mixing tube diameter of the fluid jet apparatus, the mixing tube length of the fluid jet device, the fluid pressure of the fluid jet device, material thick, or is at least one of the type of the material to be cut, the method according to claim 1.   The method of claim 1, wherein the predictive model models at least one of a lead angle or a taper angle as a function of the speed of movement of the cutting head.   The method of claim 1, wherein the predictive model models at least one of a lead angle or a taper angle as a function of a value of acceleration of movement of the cutting head.   The method of claim 1, wherein the predictive model models at least one of a lead angle or a taper angle as a function of a value of a deceleration of movement of the cutting head. The automatic determination of the corresponding angular adjustment of the cutting head relative to the material based on the indicated process parameters associated with a segment is performed at each end point of each segment. the method of. The method of claim 7, wherein automatically determining a corresponding angular adjustment of the cutting head relative to the material takes into account the speed of transition of the cutting head motion from one segment to the next. The method of claim 1, further comprising: transferring the stored motion command executed by a device that controls motor motion of the cutting head of the fluid jet apparatus and cutting the target piece. The method of claim 1, wherein automatically determining a corresponding angular adjustment of the cutting head to the material determines at least one of a lead angle compensation value or a taper angle compensation value.   The method of claim 1, wherein the exercise instructions are stored in an exercise program data structure. Storing the motion command includes storing a plurality of command sequences indicating an equation for determining a motor coupling position that advances the cutting head along a desired path, and controlling the cutting head. The method of claim 1. The method of claim 1, wherein the prediction model comprises at least one of a library containing codes, a polynomial, or a lookup table storing discrete values. Automatic generation and storage of motion commands is performed using a look-ahead procedure while the cutting head is moving to cut the target piece ,
The method of claim 1, wherein the look-ahead procedure dynamically adjusts the cutting head . Receiving the indication of the process parameter and automatically determining the corresponding angular adjustment of the cutting head relative to the material ;
The method of claim 14, comprising: determining an appropriate value for the angular adjustment from the predictive model in response to velocity feedback for a current position of the cutting head and a next position of the cutting head. Method. A computer readable storage medium comprising instructions for controlling a computer processor to automatically determine and generate movement instructions, the movement instructions comprising at least one of an undesirable taper and an undesirable trailback. The movement command generates a target piece from the material by controlling the movement and orientation of the cutting head of the fluid jet device,
Controlling the computer processor includes
For each of a plurality of segments constituting the geometric shape of the target piece,
Receiving an indication of a process parameter associated with cutting the segment, wherein at least two of the segments have different values of the process parameter;
Automatically determining a corresponding angular adjustment of the cutting head relative to the material by using a predictive model based on the indicated process parameters associated with cutting the segment, The predictive model automatically determines at least one of a lead angle or a taper angle as a function of the process parameter;
Automatically generating and storing movement instructions indicating a desired movement of the cutting head along with the determined corresponding angular adjustment;
Generating the target piece by automatically controlling movement and orientation of the cutting head of the fluid jet device in accordance with the motion command. The process parameters, movement speed of the cutting head, the polishing fluid flow rate of the fluid jet device, a nozzle orifice diameter of the fluid jet apparatus, the mixing tube diameter of the fluid jet apparatus, the mixing tube length of the fluid jet device, said fluid pressure of the fluid jet device, the thickness of the material, or at least one of the type of the material to be cut, the storage medium according to claim 16.   The storage medium of claim 16, wherein the predictive model identifies at least one of a lead angle or a taper angle as a function of at least one of a speed, acceleration, or deceleration of the cutting head motion. Based on the indicated process parameters for cutting a segment, to automatically determine a corresponding angular adjustment of the cutting head relative to the material is performed in a plurality of end points of each segment, according to claim 16 The storage medium described in 1. 20. The storage medium of claim 19, wherein automatically determining a corresponding angular adjustment of the cutting head relative to the material takes into account the speed of transition of the cutting head motion from one segment to the next. .   Further comprising instructions for controlling the computer processor by transferring the stored movement instructions executed by a device for controlling motor movement of the cutting head of the fluid jet apparatus and cutting the target piece. Item 17. The storage medium according to Item 16. The storage medium of claim 16, wherein automatically determining a corresponding angular adjustment of the cutting head to the material determines at least one of a lead angle compensation value or a taper angle compensation value.   The storage medium according to claim 16, wherein the exercise command is stored in a data structure of an exercise program. 17. The stored motion command includes a plurality of command sequences that direct equations for determining a motor coupling position to advance the cutting head along a desired path to control the cutting head. The storage medium described. The storage medium according to claim 16, wherein the prediction model includes at least one of a library including codes, a polynomial, or a lookup table storing discrete values. Automatic generation and storage of motion commands is performed using a look-ahead procedure while the cutting head is moving to cut the target piece ,
The storage medium of claim 16, wherein the look-ahead procedure dynamically adjusts the cutting head . Receiving the indication of the process parameter and automatically determining the corresponding angular adjustment of the cutting head relative to the material ;
27. determining an appropriate value for the angular adjustment from the predictive model in response to velocity feedback for a current position of the cutting head and a next position of the cutting head. Storage medium. A fluid jet device control system for controlling a cutting head of a fluid jet device, wherein the cutting head generates a jet stream configured to cut material, the cutting head rotating about a plurality of axes Cut the target piece from the material according to the geometric shape ,
The system comprises an exercise program generator and an interface;
The exercise program generator
According to the process parameters associated with cutting the individual segments, the method comprising: automatically determining the orientation values for each of a plurality of segments of該幾what biological shape, at least two segments, different that the process parameters The orientation value is associated with at least one of a lead angle or a taper angle;
Storing the determined bearing value associated with the plurality of segments as part of the motion command;
The interface is
Retrieving the stored motion command;
Transmitting a plurality of position and orientation values to the cutting head of the fluid jet device, positioning and orienting the cutting head relative to the plurality of axes, and according to the automatically determined orientation value; A system that is configured to cut and cut target pieces. 29. The system of claim 28, wherein the orientation value is a taper angle compensation value that is determined to minimize taper when the target piece is cut . 29. The system of claim 28, wherein the orientation value is a lead angle compensation value that is determined to minimize trailback when the target piece is cut .   29. The system of claim 28, wherein the orientation value controls tilting and turning of the cutting head. It said process parameter is the speed of the indication of the cutting head associated with the cutting the segments of claim 28 system.   29. The process parameter of claim 28, wherein the process parameter is an indication of at least one of polishing fluid flow rate, nozzle orifice diameter, mixing tube diameter, mixing tube length, fluid pressure, material thickness, or type of material to be cut. The described system.   30. The system of claim 28, wherein the cutting head is controlled by movement about at least five axes.   30. The system of claim 28, wherein the fluid jet device is at least one of an abrasive water jet, a high pressure fluid jet, or a low pressure fluid jet.   29. The system of claim 28, wherein the interface and the motion program generator are incorporated into a fluid jet device controller.   38. The system of claim 36, wherein the controller is a computer numerical controller.   40. The system of claim 36, wherein the controller is a computer system. 30. The system of claim 28, wherein the motion program generator is configured to automatically determine an orientation value for each of a plurality of segments of the geometric shape by using a predictive modeling component. .   40. The system of claim 39, wherein the predictive modeling component includes a function that determines at least one of a lead angle or a taper angle based on a process parameter.   41. The system of claim 40, wherein the input to the function represents at least one value of a speed, acceleration, or deceleration of the cutting head motion. 40. The system of claim 39, wherein the predictive modeling component comprises at least one of a polynomial or a lookup table. A control system that controls the cutting head of a fluid jet apparatus, the cutting head generates a jet stream, the cutting head is rotated about a plurality of axes, according to geometrical shape of the target piece Cut the target piece from the material ,
The system
Means for automatically determining an orientation value for each of a plurality of segments of the geometric shape according to a process parameter associated with cutting each segment , the process parameter having a value The at least two segments have different associated process parameter values, the orientation value being at least one of a lead angle or a taper angle of a cut generated by the jet stream for the material; Related, means,
Means for storing the determined orientation value associated with cutting the plurality of segments as part of a stored motion command;
Transmitting the stored motion commands as a plurality of position and orientation values to the cutting head of the fluid jet device, positioning and orienting the cutting head relative to the plurality of axes, and automatically Means for cutting the target piece according to the determined orientation value.   44. The system of claim 43, wherein the means for automatically determining, the means for storing, and the means for communicating are incorporated into a controller of a fluid jet device. 44. The system of claim 43, wherein the cutting head is controlled by movement about at least five axes. By automatically controlling the orientation of the cutting head of a fluid jet device during cutting, according to geometrical shapes the received target pieces to produce the target piece of material, a method in a computer system ,
The method
Receiving velocity feedback for the current position of the cutting head;
And that on the basis of the geometric shape of the received, determines the next speed for the next position of the cutting head,
Determining a next azimuth relative to the cutting head based on the received velocity feedback, the determined next velocity, and an azimuth prediction model;
Adjusting the orientation of the cutting head according to the determined next azimuth angle,
The method wherein the azimuth is one of a lead angle or a taper angle of the generated cut for the material .   47. The method of claim 46, wherein determining the next azimuth with respect to the cutting head includes determining the next azimuth based on a lead angle prediction model.   47. The method of claim 46, wherein determining the next azimuth with respect to the cutting head includes determining the next azimuth based on a predictive model of taper angle.   47. Receiving the velocity feedback, determining the next velocity, and determining the next azimuth are performed by a controller of the cutting head of the fluid jet device. The method described in 1. By controlling the computer processor in the controller to automatically adjust the orientation of the cutting head of the flow body jet apparatus, according to geometrical shapes the received target piece, in order to produce the target piece of material A computer-readable storage medium for storing
Controlling the computer processor includes
Receiving velocity feedback for the current position of the cutting head;
And that on the basis of the geometric shape of the received, determines the next speed for the next position of the cutting head,
Determining a next azimuth relative to the cutting head based on the received velocity feedback, the determined next velocity, and an azimuth prediction model;
Adjusting the orientation of the cutting head according to the determined next azimuth angle.   51. The storage medium of claim 50, wherein determining the next azimuth with respect to the cutting head includes determining the next azimuth based on a lead angle prediction model.   51. The storage medium of claim 50, wherein determining the next azimuth angle with respect to the cutting head includes determining the next azimuth angle based on a predictive model of taper angle.   51. Receiving the velocity feedback, determining the next velocity, and determining the next azimuth are performed by a controller of the cutting head of the fluid jet device. The storage medium described in 1. By automatically controlling the orientation of the cutting head of the flow body jet apparatus, according to geometrical shapes the received target piece, a controller to generate the target piece of material,
A velocity model and an acceleration model;
Predictive lead and taper models;
A feedback mechanism configured to receive velocity feedback for the current position of the cutting head;
With a look ahead component and
The look ahead component is:
And determining the geometric shape which is the received, based on the the speed model and acceleration model, the next speed for the next position of the cutting head,
Determining a next azimuth relative to the cutting head based on the received velocity feedback, the determined next velocity, and the predicted lead and taper models;
Adjusting the orientation of the cutting head in accordance with the determined next azimuth angle.   55. The controller of claim 54, wherein the determined next azimuth angle indicates a lead angle value.   55. The controller of claim 54, wherein the determined next azimuth angle indicates a taper angle value.

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